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CydandClaude Fable 5 87b1c048cf BT410 Phase 5.3.5: eyepointRotation -- torso elevation pitches the eye/aim-ray, not a joint

Investigated the next planned binding (elevation -> gun joints jointlgun/
jointrgun) before implementing it, and found it was the wrong target: BT411's
own reverse-engineering history records that NO gun/arm elevation joint exists
in the authentic engine. The pod's stick-Y aim pitches the COCKPIT EYE and the
weapon boresight directly (mech4.cpp @~5219, pixel-calibrated against real
screenshots) -- the torso geometry never tilts for elevation on this mech
family. Reconstructing a gun-joint binding would have been invented behavior.

- MECH.HPP: EulerAngles eyepointRotation member (out of reservedState, now
  [208]) + GetEyepointRotation() accessor.
- MECH.CPP: composed each frame in Simulate -- eyepointRotation =
  EulerAngles(Radian(Normalize(lookPitch+elevation)), Radian(Normalize(lookYaw)),
  Radian(0)), reading Torso::CurrentElevation() via sinkSourceSubsystem.
  lookPitch/lookYaw are 0 until the look-button wave (BTCommitLookState) lands.

Verified: BT_FORCE_ELEV=0.8 -> torsoElev and eyePitch both read 0.349066 (the
authentic 20 degree resource limit) every frame, exact match; neutral -> 0.
Zero Fail. Corrected TORSO.NOTES.md's prior (wrong) "next: gun joints" note.

Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>

2026-07-21 21:51:28 -05:00

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TORSO.CPP / .HPP — reconstruction notes

Torso (: PowerWatcher) drives torso twist (horizontal) and weapon elevation (vertical). Tuning rates/limits stream from the resource (horizontal/verticalRotationPerSecond, horizontal/verticalLimit*, torsoHorizontalEnabled).

Reconstructed

Ctor: streams the base rates (deg→rad) + limits + horizontalEnabled, primes currentTwist/currentElevation/analog axes to 0, and installs TorsoSimulation as the per-frame Performance (the replicant copy is console-driven via TorsoCopySimulation, still staged).
analogElevationAxis / analogTwistAxis members + SetAnalogElevationAxis / SetAnalogTwistAxis setters (written by MechControlsMapper::InterpretControls).
CurrentTwist() / CurrentElevation() / GetHorizontalEnabled() accessors.
TorsoSimulation(Scalar) — per-frame aim integration (authentic core):
- currentElevation += analogElevationAxis · baseElevationRate · dt, clamped to [verticalLimitBottom, verticalLimitTop];
- if horizontalEnabled: currentTwist += analogTwistAxis · baseTwistRate · dt, clamped to [horizontalLimitLeft, horizontalLimitRight].

VERIFIED (BT_MECH_LOG [mppr] torsoElev=, forced-input BT_FORCE_ELEV): stick pitch 0.8 slews the elevation up and clamps at the authentic verticalLimitTop = 0.349 rad = 20°. Zero Fail.

Skeleton-joint binding (2026-07-21)

The twist joints are now RESOLVED and BOUND: the ctor calls owner->ResolveJoint(torsoHorizontalJoint / torsoHorizontalShadowJoint) (the skeleton is live — see MECH.NOTES.md), stores them as Joint*, and TorsoSimulation pushes currentTwist onto horizontalJointNode via Joint::SetRotation (hinge → Radian; ball → EulerAngles yaw).

The bring-up TEST.EGG mech has a FIXED torso (horizJoint='', enabled=0), so its twist path is inert — correctly guarded (null joint → no apply, no crash). A torso-twist mech drives the joint. Verified headlessly; the VISUAL rotation needs the renderer.

Elevation does NOT drive a gun joint (corrected 2026-07-21)

Checked BT411 before reconstructing a "gun-elevation joint": no such joint binding exists anywhere in the authentic engine. currentElevation instead composes into Mech::eyepointRotation (the cockpit-eye / weapon-boresight pitch) — see MECH.NOTES.md "PHASE 5.3 INCREMENT 5". TorsoSimulation only needed to keep advancing the scalar state, which it already did; the missing piece was the CONSUMER (Mech::Simulate's eyepoint composition), now reconstructed and verified (torsoElev == eyePitch every frame).

Deferred

HUD free-aim slew, the look-button state machine (BTCommitLookState / gBTLookPitch/gBTLookYaw — composes with elevation into the full eyepoint), TorsoCopySimulation (replicant console-driven aim) — still staged.

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